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<div class="title">sac_model_cylinder.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2010, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/eigen.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model_cylinder.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/common/concatenate.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#abc95587fff18b6a0011168ec57acadb1">   50</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#abc95587fff18b6a0011168ec57acadb1">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::isSampleGood</a> (<span class="keyword">const</span> std::vector&lt;int&gt; &amp;)<span class="keyword"> const</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;}</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a06b4b8784b244ffb5571a61b23c1e56c">   57</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#a06b4b8784b244ffb5571a61b23c1e56c">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::computeModelCoefficients</a> (</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt; &amp;samples, Eigen::VectorXf &amp;model_coefficients)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">// Need 2 samples</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordflow">if</span> (samples.size () != 2)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelCylinder::computeModelCoefficients] Invalid set of samples given (%lu)!\n&quot;</span>, samples.size ());</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">if</span> (!normals_)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelCylinder::computeModelCoefficients] No input dataset containing normals was given!\n&quot;</span>);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">if</span> (fabs (input_-&gt;points[samples[0]].x - input_-&gt;points[samples[1]].x) &lt;= std::numeric_limits&lt;float&gt;::epsilon () &amp;&amp; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      fabs (input_-&gt;points[samples[0]].y - input_-&gt;points[samples[1]].y) &lt;= std::numeric_limits&lt;float&gt;::epsilon () &amp;&amp; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      fabs (input_-&gt;points[samples[0]].z - input_-&gt;points[samples[1]].z) &lt;= std::numeric_limits&lt;float&gt;::epsilon ()) </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  Eigen::Vector4f p1 (input_-&gt;points[samples[0]].x, input_-&gt;points[samples[0]].y, input_-&gt;points[samples[0]].z, 0);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  Eigen::Vector4f p2 (input_-&gt;points[samples[1]].x, input_-&gt;points[samples[1]].y, input_-&gt;points[samples[1]].z, 0);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  Eigen::Vector4f n1 (normals_-&gt;points[samples[0]].normal[0], normals_-&gt;points[samples[0]].normal[1], normals_-&gt;points[samples[0]].normal[2], 0);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  Eigen::Vector4f n2 (normals_-&gt;points[samples[1]].normal[0], normals_-&gt;points[samples[1]].normal[1], normals_-&gt;points[samples[1]].normal[2], 0);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  Eigen::Vector4f w = n1 + p1 - p2;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordtype">float</span> a = n1.dot (n1);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">float</span> b = n1.dot (n2);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordtype">float</span> c = n2.dot (n2);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordtype">float</span> d = n1.dot (w);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">float</span> e = n2.dot (w);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">float</span> denominator = a*c - b*b;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keywordtype">float</span> sc, tc;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">// Compute the line parameters of the two closest points</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">if</span> (denominator &lt; 1e-8)          <span class="comment">// The lines are almost parallel</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    sc = 0.0f;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    tc = (b &gt; c ? d / b : e / c);  <span class="comment">// Use the largest denominator</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    sc = (b*e - c*d) / denominator;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    tc = (a*e - b*d) / denominator;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">// point_on_axis, axis_direction</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  Eigen::Vector4f line_pt  = p1 + n1 + sc * n1;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  Eigen::Vector4f line_dir = p2 + tc * n2 - line_pt;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  line_dir.normalize ();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  model_coefficients.resize (7);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="comment">// model_coefficients.template head&lt;3&gt; ()    = line_pt.template head&lt;3&gt; ();</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  model_coefficients[0] = line_pt[0];</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  model_coefficients[1] = line_pt[1];</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  model_coefficients[2] = line_pt[2];</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">// model_coefficients.template segment&lt;3&gt; (3) = line_dir.template head&lt;3&gt; ();</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  model_coefficients[3] = line_dir[0];</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  model_coefficients[4] = line_dir[1];</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  model_coefficients[5] = line_dir[2];</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="comment">// cylinder radius</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  model_coefficients[6] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sqrt (<a class="code" href="group__common.html#gad9217ecd4cc14221f178af07a16ef75d">pcl::sqrPointToLineDistance</a> (p1, line_pt, line_dir)));</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordflow">if</span> (model_coefficients[6] &gt; radius_max_ || model_coefficients[6] &lt; radius_min_)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#ad77dc34861d4026dca1d5d3b66ff40ee">  131</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#ad77dc34861d4026dca1d5d3b66ff40ee">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::getDistancesToModel</a> (</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, std::vector&lt;double&gt; &amp;distances)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;{</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="comment">// Check if the model is valid given the user constraints</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">if</span> (!isModelValid (model_coefficients))</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    distances.clear ();</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  distances.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordtype">float</span> ptdotdir = line_pt.dot (line_dir);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordtype">float</span> dirdotdir = 1.0f / line_dir.dot (line_dir);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="comment">// Iterate through the 3d points and calculate the distances from them to the sphere</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="comment">// Aproximate the distance from the point to the cylinder as the difference between</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="comment">// dist(point,cylinder_axis) and cylinder radius</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">// @note need to revise this.</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    Eigen::Vector4f pt (input_-&gt;points[(*indices_)[i]].x, input_-&gt;points[(*indices_)[i]].y, input_-&gt;points[(*indices_)[i]].z, 0);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    Eigen::Vector4f n  (normals_-&gt;points[(*indices_)[i]].normal[0], normals_-&gt;points[(*indices_)[i]].normal[1], normals_-&gt;points[(*indices_)[i]].normal[2], 0);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">double</span> d_euclid = fabs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="comment">// Calculate the point&#39;s projection on the cylinder axis</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordtype">float</span> k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    Eigen::Vector4f pt_proj = line_pt + k * line_dir;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    Eigen::Vector4f dir = pt - pt_proj;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    dir.normalize ();</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="comment">// Calculate the angular distance between the point normal and the (dir=pt_proj-&gt;pt) vector</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordtype">double</span> d_normal = fabs (<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (n, dir));</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    d_normal = (std::min) (d_normal, M_PI - d_normal);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    distances[i] = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;}</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#ad64b499ce19bfa57e30b5fe19149db7e">  174</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#ad64b499ce19bfa57e30b5fe19149db7e">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::selectWithinDistance</a> (</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold, std::vector&lt;int&gt; &amp;inliers)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;{</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a06b4b8784b244ffb5571a61b23c1e56c">  177</a></span>&#160;  <span class="comment">// Check if the model is valid given the user constraints</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="keywordflow">if</span> (!isModelValid (model_coefficients))</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    inliers.clear ();</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordtype">int</span> nr_p = 0;</div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#ad77dc34861d4026dca1d5d3b66ff40ee">  185</a></span>&#160;  inliers.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  error_sqr_dists_.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keywordtype">float</span> ptdotdir = line_pt.dot (line_dir);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordtype">float</span> dirdotdir = 1.0f / line_dir.dot (line_dir);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="comment">// Iterate through the 3d points and calculate the distances from them to the sphere</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#ad64b499ce19bfa57e30b5fe19149db7e">  194</a></span>&#160;  {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="comment">// Aproximate the distance from the point to the cylinder as the difference between</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="comment">// dist(point,cylinder_axis) and cylinder radius</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    Eigen::Vector4f pt (input_-&gt;points[(*indices_)[i]].x, input_-&gt;points[(*indices_)[i]].y, input_-&gt;points[(*indices_)[i]].z, 0);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    Eigen::Vector4f n  (normals_-&gt;points[(*indices_)[i]].normal[0], normals_-&gt;points[(*indices_)[i]].normal[1], normals_-&gt;points[(*indices_)[i]].normal[2], 0);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordtype">double</span> d_euclid = fabs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="comment">// Calculate the point&#39;s projection on the cylinder axis</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordtype">float</span> k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    Eigen::Vector4f pt_proj = line_pt + k * line_dir;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    Eigen::Vector4f dir = pt - pt_proj;</div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a4aae3c84e0c58d4c0069e49b7fd774b1">  205</a></span>&#160;    dir.normalize ();</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="comment">// Calculate the angular distance between the point normal and the (dir=pt_proj-&gt;pt) vector</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordtype">double</span> d_normal = fabs (<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (n, dir));</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    d_normal = (std::min) (d_normal, M_PI - d_normal);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordtype">double</span> distance = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid); </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">if</span> (distance &lt; threshold)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="comment">// Returns the indices of the points whose distances are smaller than the threshold</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a9c39a2e6dbf1607e946ef034a56d5a3a">  215</a></span>&#160;      inliers[nr_p] = (*indices_)[i];</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      error_sqr_dists_[nr_p] = distance;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      ++nr_p;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  inliers.resize (nr_p);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  error_sqr_dists_.resize (nr_p);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;}</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a4aae3c84e0c58d4c0069e49b7fd774b1">  226</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#a4aae3c84e0c58d4c0069e49b7fd774b1">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::countWithinDistance</a> (</div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a89f5064a174ad927c6ccce599c35674a">  227</a></span>&#160;      <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;{</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="comment">// Check if the model is valid given the user constraints</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordflow">if</span> (!isModelValid (model_coefficients))</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordtype">int</span> nr_p = 0;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordtype">float</span> ptdotdir = line_pt.dot (line_dir);</div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a9dbabcdf330f2cbb20780b9976e34cfc">  238</a></span>&#160;  <span class="keywordtype">float</span> dirdotdir = 1.0f / line_dir.dot (line_dir);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="comment">// Iterate through the 3d points and calculate the distances from them to the sphere</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="comment">// Aproximate the distance from the point to the cylinder as the difference between</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="comment">// dist(point,cylinder_axis) and cylinder radius</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    Eigen::Vector4f pt (input_-&gt;points[(*indices_)[i]].x, input_-&gt;points[(*indices_)[i]].y, input_-&gt;points[(*indices_)[i]].z, 0);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    Eigen::Vector4f n  (normals_-&gt;points[(*indices_)[i]].normal[0], normals_-&gt;points[(*indices_)[i]].normal[1], normals_-&gt;points[(*indices_)[i]].normal[2], 0);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keywordtype">double</span> d_euclid = fabs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">// Calculate the point&#39;s projection on the cylinder axis</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordtype">float</span> k = (pt.dot (line_dir) - ptdotdir) * dirdotdir;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    Eigen::Vector4f pt_proj = line_pt + k * line_dir;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    Eigen::Vector4f dir = pt - pt_proj;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    dir.normalize ();</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="comment">// Calculate the angular distance between the point normal and the (dir=pt_proj-&gt;pt) vector</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a87460a7bd464ae09299d60e9bce63f05">  255</a></span>&#160;    <span class="keywordtype">double</span> d_normal = fabs (<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (n, dir));</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    d_normal = (std::min) (d_normal, M_PI - d_normal);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordflow">if</span> (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) &lt; threshold)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      nr_p++;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordflow">return</span> (nr_p);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;}</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a9c39a2e6dbf1607e946ef034a56d5a3a">  266</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#a9c39a2e6dbf1607e946ef034a56d5a3a">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::optimizeModelCoefficients</a> (</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt; &amp;inliers, <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, Eigen::VectorXf &amp;optimized_coefficients)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;{</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  optimized_coefficients = model_coefficients;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="comment">// Needs a set of valid model coefficients</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="keywordflow">if</span> (model_coefficients.size () != 7)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelCylinder::optimizeModelCoefficients] Invalid number of model coefficients given (%lu)!\n&quot;</span>, model_coefficients.size ());</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordflow">if</span> (inliers.empty ())</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::SampleConsensusModelCylinder:optimizeModelCoefficients] Inliers vector empty! Returning the same coefficients.\n&quot;</span>); </div>
<div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#af6cbf8b72dd8847dfcb538aff39fa604">  281</a></span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  tmp_inliers_ = &amp;inliers;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  OptimizationFunctor functor (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (inliers.size ()), <span class="keyword">this</span>);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  Eigen::NumericalDiff&lt;OptimizationFunctor &gt; num_diff (functor);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  Eigen::LevenbergMarquardt&lt;Eigen::NumericalDiff&lt;OptimizationFunctor&gt;, <span class="keywordtype">float</span>&gt; lm (num_diff);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordtype">int</span> info = lm.minimize (optimized_coefficients);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="comment">// Compute the L2 norm of the residuals</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::SampleConsensusModelCylinder::optimizeModelCoefficients] LM solver finished with exit code %i, having a residual norm of %g. \nInitial solution: %g %g %g %g %g %g %g \nFinal solution: %g %g %g %g %g %g %g\n&quot;</span>,</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;             info, lm.fvec.norm (), model_coefficients[0], model_coefficients[1], model_coefficients[2], model_coefficients[3],</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;             model_coefficients[4], model_coefficients[5], model_coefficients[6], optimized_coefficients[0], optimized_coefficients[1], optimized_coefficients[2], optimized_coefficients[3], optimized_coefficients[4], optimized_coefficients[5], optimized_coefficients[6]);</div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#acb3a0a9830cc0797ba664c8fc5627d7b">  295</a></span>&#160;    </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  Eigen::Vector3f line_dir (optimized_coefficients[3], optimized_coefficients[4], optimized_coefficients[5]);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  line_dir.normalize ();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  optimized_coefficients[3] = line_dir[0];</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  optimized_coefficients[4] = line_dir[1];</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  optimized_coefficients[5] = line_dir[2];</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;}</div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#abc95587fff18b6a0011168ec57acadb1">  302</a></span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00305"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a89f5064a174ad927c6ccce599c35674a">  305</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#a89f5064a174ad927c6ccce599c35674a">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::projectPoints</a> (</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt; &amp;inliers, <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;projected_points, <span class="keywordtype">bool</span> copy_data_fields)</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;{</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="comment">// Needs a valid set of model coefficients</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keywordflow">if</span> (model_coefficients.size () != 7)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelCylinder::projectPoints] Invalid number of model coefficients given (%lu)!\n&quot;</span>, model_coefficients.size ());</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_-&gt;header;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="keywordtype">float</span> ptdotdir = line_pt.dot (line_dir);</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordtype">float</span> dirdotdir = 1.0f / line_dir.dot (line_dir);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="comment">// Copy all the data fields from the input cloud to the projected one?</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <span class="keywordflow">if</span> (copy_data_fields)</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  {</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (input_-&gt;points.size ());</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = input_-&gt;width;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = input_-&gt;height;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="comment">// Iterate over each dimension</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1_nd_concatenate_functor.html">NdConcatenateFunctor &lt;PointT, PointT&gt;</a> (input_-&gt;points[i], projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]));</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="comment">// Iterate through the 3d points and calculate the distances from them to the cylinder</span></div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; inliers.size (); ++i)</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      Eigen::Vector4f p (input_-&gt;points[inliers[i]].x,</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;                         input_-&gt;points[inliers[i]].y,</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;                         input_-&gt;points[inliers[i]].z,</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                         1);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      <span class="keywordtype">float</span> k = (p.dot (line_dir) - ptdotdir) * dirdotdir;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      pcl::Vector4fMap pp = projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[inliers[i]].getVector4fMap ();</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      pp.matrix () = line_pt + k * line_dir;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      Eigen::Vector4f dir = p - pp;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      dir.normalize ();</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="comment">// Calculate the projection of the point onto the cylinder</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      pp += dir * model_coefficients[6];</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    }</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  }</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  {</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="comment">// Allocate enough space and copy the basics</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (inliers.size ());</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (inliers.size ());</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; inliers.size (); ++i)</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="comment">// Iterate over each dimension</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1_nd_concatenate_functor.html">NdConcatenateFunctor &lt;PointT, PointT&gt;</a> (input_-&gt;points[inliers[i]], projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]));</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    <span class="comment">// Iterate through the 3d points and calculate the distances from them to the plane</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; inliers.size (); ++i)</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    {</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      pcl::Vector4fMap pp = projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].getVector4fMap ();</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      pcl::Vector4fMapConst p = input_-&gt;points[inliers[i]].getVector4fMap ();</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keywordtype">float</span> k = (p.dot (line_dir) - ptdotdir) * dirdotdir;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      <span class="comment">// Calculate the projection of the point on the line</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      pp.matrix () = line_pt + k * line_dir;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      Eigen::Vector4f dir = p - pp;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      dir.normalize ();</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <span class="comment">// Calculate the projection of the point onto the cylinder</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      pp += dir * model_coefficients[6];</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    }</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;}</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00391"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a9dbabcdf330f2cbb20780b9976e34cfc">  391</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#a9dbabcdf330f2cbb20780b9976e34cfc">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::doSamplesVerifyModel</a> (</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <span class="keyword">const</span> std::set&lt;int&gt; &amp;indices, <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, <span class="keyword">const</span> <span class="keywordtype">double</span> threshold)</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;{</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <span class="comment">// Needs a valid model coefficients</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="keywordflow">if</span> (model_coefficients.size () != 7)</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  {</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::SampleConsensusModelCylinder::doSamplesVerifyModel] Invalid number of model coefficients given (%lu)!\n&quot;</span>, model_coefficients.size ());</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  }</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keywordflow">for</span> (std::set&lt;int&gt;::const_iterator it = indices.begin (); it != indices.end (); ++it)</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  {</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    <span class="comment">// Aproximate the distance from the point to the cylinder as the difference between</span></div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    <span class="comment">// dist(point,cylinder_axis) and cylinder radius</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    <span class="comment">// @note need to revise this.</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    Eigen::Vector4f pt (input_-&gt;points[*it].x, input_-&gt;points[*it].y, input_-&gt;points[*it].z, 0);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <span class="keywordflow">if</span> (fabs (pointToLineDistance (pt, model_coefficients) - model_coefficients[6]) &gt; threshold)</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  }</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;}</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#a87460a7bd464ae09299d60e9bce63f05">  416</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#a87460a7bd464ae09299d60e9bce63f05">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::pointToLineDistance</a> (</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <span class="keyword">const</span> Eigen::Vector4f &amp;pt, <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients)</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;{</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="keywordflow">return</span> sqrt(<a class="code" href="group__common.html#gad9217ecd4cc14221f178af07a16ef75d">pcl::sqrPointToLineDistance</a> (pt, line_pt, line_dir));</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;}</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00426"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#af6cbf8b72dd8847dfcb538aff39fa604">  426</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#af6cbf8b72dd8847dfcb538aff39fa604">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::projectPointToCylinder</a> (</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      <span class="keyword">const</span> Eigen::Vector4f &amp;pt, <span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients, Eigen::Vector4f &amp;pt_proj)</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;{</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  Eigen::Vector4f line_pt  (model_coefficients[0], model_coefficients[1], model_coefficients[2], 0);</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  Eigen::Vector4f line_dir (model_coefficients[3], model_coefficients[4], model_coefficients[5], 0);</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  <span class="keywordtype">float</span> k = (pt.dot (line_dir) - line_pt.dot (line_dir)) * line_dir.dot (line_dir);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  pt_proj = line_pt + k * line_dir;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  Eigen::Vector4f dir = pt - pt_proj;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  dir.normalize ();</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  <span class="comment">// Calculate the projection of the point onto the cylinder</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  pt_proj += dir * model_coefficients[6];</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;}</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00444"></a><span class="lineno"><a class="line" href="classpcl_1_1_sample_consensus_model_cylinder.html#acb3a0a9830cc0797ba664c8fc5627d7b">  444</a></span>&#160;<a class="code" href="classpcl_1_1_sample_consensus_model_cylinder.html#acb3a0a9830cc0797ba664c8fc5627d7b">pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;::isModelValid</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;model_coefficients)</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;{</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_sample_consensus_model.html">SampleConsensusModel&lt;PointT&gt;::isModelValid</a> (model_coefficients))</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160; </div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  <span class="comment">// Check against template, if given</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="keywordflow">if</span> (eps_angle_ &gt; 0.0)</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  {</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    <span class="comment">// Obtain the cylinder direction</span></div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;    Eigen::Vector4f coeff;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    coeff[0] = model_coefficients[3];</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    coeff[1] = model_coefficients[4];</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    coeff[2] = model_coefficients[5];</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    coeff[3] = 0;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    Eigen::Vector4f axis (axis_[0], axis_[1], axis_[2], 0);</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keywordtype">double</span> angle_diff = fabs (<a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">getAngle3D</a> (axis, coeff));</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    angle_diff = (std::min) (angle_diff, M_PI - angle_diff);</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    <span class="comment">// Check whether the current cylinder model satisfies our angle threshold criterion with respect to the given axis</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordflow">if</span> (angle_diff &gt; eps_angle_)</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  }</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  <span class="keywordflow">if</span> (radius_min_ != -std::numeric_limits&lt;double&gt;::max() &amp;&amp; model_coefficients[6] &lt; radius_min_)</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  <span class="keywordflow">if</span> (radius_max_ != std::numeric_limits&lt;double&gt;::max() &amp;&amp; model_coefficients[6] &gt; radius_max_)</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;}</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_SampleConsensusModelCylinder(PointT, PointNT)   template class PCL_EXPORTS pcl::SampleConsensusModelCylinder&lt;PointT, PointNT&gt;;</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SAMPLE_CONSENSUS_IMPL_SAC_MODEL_CYLINDER_H_</span></div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_a06b4b8784b244ffb5571a61b23c1e56c"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#a06b4b8784b244ffb5571a61b23c1e56c">pcl::SampleConsensusModelCylinder::computeModelCoefficients</a></div><div class="ttdeci">bool computeModelCoefficients(const std::vector&lt; int &gt; &amp;samples, Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether the given index samples can form a valid cylinder model, compute the model coefficients...</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:57</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_a4aae3c84e0c58d4c0069e49b7fd774b1"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#a4aae3c84e0c58d4c0069e49b7fd774b1">pcl::SampleConsensusModelCylinder::countWithinDistance</a></div><div class="ttdeci">virtual int countWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Count all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:226</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_a87460a7bd464ae09299d60e9bce63f05"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#a87460a7bd464ae09299d60e9bce63f05">pcl::SampleConsensusModelCylinder::pointToLineDistance</a></div><div class="ttdeci">double pointToLineDistance(const Eigen::Vector4f &amp;pt, const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Get the distance from a point to a line (represented by a point and a direction)</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:416</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_a89f5064a174ad927c6ccce599c35674a"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#a89f5064a174ad927c6ccce599c35674a">pcl::SampleConsensusModelCylinder::projectPoints</a></div><div class="ttdeci">void projectPoints(const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, PointCloud &amp;projected_points, bool copy_data_fields=true)</div><div class="ttdoc">Create a new point cloud with inliers projected onto the cylinder model.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:305</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_a9c39a2e6dbf1607e946ef034a56d5a3a"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#a9c39a2e6dbf1607e946ef034a56d5a3a">pcl::SampleConsensusModelCylinder::optimizeModelCoefficients</a></div><div class="ttdeci">void optimizeModelCoefficients(const std::vector&lt; int &gt; &amp;inliers, const Eigen::VectorXf &amp;model_coefficients, Eigen::VectorXf &amp;optimized_coefficients)</div><div class="ttdoc">Recompute the cylinder coefficients using the given inlier set and return them to the user.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:266</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_a9dbabcdf330f2cbb20780b9976e34cfc"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#a9dbabcdf330f2cbb20780b9976e34cfc">pcl::SampleConsensusModelCylinder::doSamplesVerifyModel</a></div><div class="ttdeci">bool doSamplesVerifyModel(const std::set&lt; int &gt; &amp;indices, const Eigen::VectorXf &amp;model_coefficients, const double threshold)</div><div class="ttdoc">Verify whether a subset of indices verifies the given cylinder model coefficients.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:391</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_abc95587fff18b6a0011168ec57acadb1"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#abc95587fff18b6a0011168ec57acadb1">pcl::SampleConsensusModelCylinder::isSampleGood</a></div><div class="ttdeci">bool isSampleGood(const std::vector&lt; int &gt; &amp;samples) const</div><div class="ttdoc">Check if a sample of indices results in a good sample of points indices. Pure virtual.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_acb3a0a9830cc0797ba664c8fc5627d7b"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#acb3a0a9830cc0797ba664c8fc5627d7b">pcl::SampleConsensusModelCylinder::isModelValid</a></div><div class="ttdeci">virtual bool isModelValid(const Eigen::VectorXf &amp;model_coefficients)</div><div class="ttdoc">Check whether a model is valid given the user constraints.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:444</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_ad64b499ce19bfa57e30b5fe19149db7e"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#ad64b499ce19bfa57e30b5fe19149db7e">pcl::SampleConsensusModelCylinder::selectWithinDistance</a></div><div class="ttdeci">void selectWithinDistance(const Eigen::VectorXf &amp;model_coefficients, const double threshold, std::vector&lt; int &gt; &amp;inliers)</div><div class="ttdoc">Select all the points which respect the given model coefficients as inliers.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:174</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_ad77dc34861d4026dca1d5d3b66ff40ee"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#ad77dc34861d4026dca1d5d3b66ff40ee">pcl::SampleConsensusModelCylinder::getDistancesToModel</a></div><div class="ttdeci">void getDistancesToModel(const Eigen::VectorXf &amp;model_coefficients, std::vector&lt; double &gt; &amp;distances)</div><div class="ttdoc">Compute all distances from the cloud data to a given cylinder model.</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:131</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_cylinder_html_af6cbf8b72dd8847dfcb538aff39fa604"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_cylinder.html#af6cbf8b72dd8847dfcb538aff39fa604">pcl::SampleConsensusModelCylinder::projectPointToCylinder</a></div><div class="ttdeci">void projectPointToCylinder(const Eigen::Vector4f &amp;pt, const Eigen::VectorXf &amp;model_coefficients, Eigen::Vector4f &amp;pt_proj)</div><div class="ttdoc">Project a point onto a cylinder given by its model coefficients (point_on_axis, axis_direction,...</div><div class="ttdef"><b>Definition:</b> sac_model_cylinder.hpp:426</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model.html">pcl::SampleConsensusModel</a></div><div class="ttdoc">SampleConsensusModel represents the base model class. All sample consensus models must inherit from t...</div><div class="ttdef"><b>Definition:</b> sac_model.h:67</div></div>
<div class="ttc" id="agroup__common_html_ga54999c02ba9bee56404539747b0fda51"><div class="ttname"><a href="group__common.html#ga54999c02ba9bee56404539747b0fda51">pcl::getAngle3D</a></div><div class="ttdeci">double getAngle3D(const Eigen::Vector4f &amp;v1, const Eigen::Vector4f &amp;v2, const bool in_degree=false)</div><div class="ttdoc">Compute the smallest angle between two 3D vectors in radians (default) or degree.</div><div class="ttdef"><b>Definition:</b> common.hpp:46</div></div>
<div class="ttc" id="agroup__common_html_gad9217ecd4cc14221f178af07a16ef75d"><div class="ttname"><a href="group__common.html#gad9217ecd4cc14221f178af07a16ef75d">pcl::sqrPointToLineDistance</a></div><div class="ttdeci">double sqrPointToLineDistance(const Eigen::Vector4f &amp;pt, const Eigen::Vector4f &amp;line_pt, const Eigen::Vector4f &amp;line_dir)</div><div class="ttdoc">Get the square distance from a point to a line (represented by a point and a direction)</div><div class="ttdef"><b>Definition:</b> distances.h:69</div></div>
<div class="ttc" id="astructpcl_1_1_nd_concatenate_functor_html"><div class="ttname"><a href="structpcl_1_1_nd_concatenate_functor.html">pcl::NdConcatenateFunctor</a></div><div class="ttdoc">Helper functor structure for concatenate.</div><div class="ttdef"><b>Definition:</b> concatenate.h:65</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
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